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Proceedings Paper

A super-resolution algorithm for enhancement of flash lidar data: flight test results
Author(s): Alexander Bulyshev; Farzin Amzajerdian; Eric Roback; Robert Reisse
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Paper Abstract

This paper describes the results of a 3D super-resolution algorithm applied to the range data obtained from a recent Flash Lidar helicopter flight test. The flight test was conducted by the NASA’s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project over a simulated lunar terrain facility at NASA Kennedy Space Center. ALHAT is developing the technology for safe autonomous landing on the surface of celestial bodies: Moon, Mars, asteroids. One of the test objectives was to verify the ability of 3D super-resolution technique to generate high resolution digital elevation models (DEMs) and to determine time resolved relative positions and orientations of the vehicle. 3D super-resolution algorithm was developed earlier and tested in computational modeling, and laboratory experiments, and in a few dynamic experiments using a moving truck. Prior to the helicopter flight test campaign, a 100mX100m hazard field was constructed having most of the relevant extraterrestrial hazard: slopes, rocks, and craters with different sizes. Data were collected during the flight and then processed by the super-resolution code. The detailed DEM of the hazard field was constructed using independent measurement to be used for comparison. ALHAT navigation system data were used to verify abilities of super-resolution method to provide accurate relative navigation information. Namely, the 6 degree of freedom state vector of the instrument as a function of time was restored from super-resolution data. The results of comparisons show that the super-resolution method can construct high quality DEMs and allows for identifying hazards like rocks and craters within the accordance of ALHAT requirements.

Paper Details

Date Published: 7 March 2014
PDF: 8 pages
Proc. SPIE 9020, Computational Imaging XII, 90200B (7 March 2014); doi: 10.1117/12.2035251
Show Author Affiliations
Alexander Bulyshev, Analytical Mechanics Associates, Inc. (United States)
Farzin Amzajerdian, NASA Langley Research Ctr. (United States)
Eric Roback, NASA Langley Research Ctr. (United States)
Robert Reisse, NASA Langley Research Ctr. (United States)

Published in SPIE Proceedings Vol. 9020:
Computational Imaging XII
Charles A. Bouman; Ken D. Sauer, Editor(s)

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